Shaft part paint production line with truss robot and vertical inlet and outlet chamber body

Abstract

The shaft part paint production line is characterized in that the paint production line comprises an equipment module and the truss robot, and the vertical chamber body module comprises a vertical chamber body, a vertical inlet, a vertical outlet and an indoor conveying device; the indoor conveying device located in the vertical chamber body comprises an indoor starting end and an indoor tail end. The truss robot clamps the shaft part through a clamping jaw, and the shaft part is placed at the indoor starting end through a vertical inlet; the shaft part enters a set position in the vertical chamber body through the indoor conveying device, reaches the indoor tail end through the indoor conveying device after set operation is completed, and then is hoisted to other set positions through the truss robot, that is, the shaft part is conveyed in the shortest path among the functional chamber bodies through the truss robot. The device has the main advantages of simple structure, easiness in equipment arrangement, small occupied area and low manufacturing cost.

Description

Technical Field

[0001] The present invention relates to the technical field of painting equipment, and particularly to a paint production line for shaft parts with a truss robot and a vertical access chamber body. Background Art

[0002] At present, as long as the production capacity of the paint production line has a certain scale, almost all use traditional conveyors to form a "line" in the broad sense of a one-dimensional space, that is, functional chamber bodies such as each spray booth, leveling chamber, drying chamber, and strong cooling chamber are strung into a conveying system of a "broad one-dimensional space" according to process routes such as pretreatment, primer, the first topcoat, and the second topcoat. For example, in the air, traditional conveyors such as suspension chains, accumulation chains, and self-propelled trolleys are generally used; on the ground, conveying methods such as plate chains plus translation or rotation, reverse accumulation chains, and RGV vehicles are generally used.

[0003] Although elevators and other conveying methods are occasionally used at some specific locations in the traditional paint production line, in essence, it is still a conveying system of a "broad one-dimensional space" composed of "lines" (conveyor lines), rather than a three-dimensional space conveying system in the true sense.

[0004] Just like the railway transportation system, only understood from the narrow physical concept, the railway network is indeed three-dimensional in space, but if there is no track connection, even if the trains are only one meter apart, they cannot reach. Therefore, understood from the broad concept, the railway network system can still be regarded as a "broad one-dimensional space" system composed of "lines" (tracks).

[0005] The traditional paint production line is like a railway vehicle that can only run on a "one-dimensional" track, while the truss robot can run in a "three-dimensional space" like an airplane.

[0006] If the shaft parts to be transported are regarded as "points", then the "points" can only find a running path in the established "one-dimensional space" composed of "lines". Without a conveyor line, no matter how close the equipment is, the shaft parts cannot reach; moreover, most production lines can only run in one direction, and once the production line is built, it will be particularly difficult to change the process route. Therefore, the main defects of the traditional paint production line for shaft parts are: complex structure, difficult equipment layout, large floor area, and high cost. Summary of the Invention

[0007] Aiming at the problems existing in the prior art, the purpose of the present invention is to provide a paint production line for shaft parts with a truss robot and a vertical access chamber body to solve the problems mentioned in the above background art.

[0008] To achieve the above object, the present invention provides the following technical solutions: The paint production line for shaft parts 1 includes an equipment module 1A, a track 1X, and a truss robot 4 running on the track 1X. The equipment module 1A includes a vertical chamber module 3. The vertical chamber module 3 includes a vertical chamber 3A, a vertical inlet 3B, a vertical outlet 3C, and an indoor conveying device 3E. The indoor conveying device 3E located in the vertical chamber 3A includes an indoor starting end 3E1 directly below the vertical inlet 3B and an indoor ending end 3E2 directly below the vertical outlet 3C. The truss robot 4 includes a gripper 4A. The truss robot 4 grips the shaft part 1 through the gripper 4A and places it on the indoor starting end 3E1 through the vertical inlet 3B. The shaft part 1 enters a set position inside the vertical chamber 3A through the indoor conveying device 3E. After completing the set operation, it reaches the indoor ending end 3E2 through the indoor conveying device 3E again, and then the truss robot 4 hoists the shaft part 1 to other set positions, that is, the conveying of the shaft part 1 between all or part of the vertical chamber modules 3 is completed by the truss robot 4.

[0009] As a further scheme of the present invention: The indoor conveying device 3E includes a chain conveyor 6. The chain conveyor 6 includes a conveying chain 6A and a V-shaped chain plate 6B with a V-shaped groove installed on the conveying chain 6A. The outer circle of the shaft part 1 is placed on the V-shaped groove of the V-shaped chain plate 6B.

[0010] As a further scheme of the present invention: The vertical chamber 3A includes a fixed seat 3A1. The top surface of the fixed seat 3A1 includes a fixed V-shaped groove 3A1V. The indoor conveying device 3E includes a walking beam conveyor 7. The walking beam conveyor 7 includes a movable rod 7A, a rod lifting device 7B, and a pushing and pulling device 7C. The top surface of the movable rod 7A includes a movable V-shaped groove 7A1. The spacing between several adjacent fixed V-shaped grooves 3A1V on the fixed seat 3A1 is equal to the spacing between several adjacent movable V-shaped grooves 7A1 on the movable rod 7A. When the movable rod 7A is at the lowest position, the movable V-shaped groove 7A1 is lower than the fixed V-shaped groove 3A1V, and the movable rod 7A can run below the shaft part 1 on the fixed V-shaped groove 3A1V through the pushing and pulling device 7C. When the movable V-shaped groove 7A1 is aligned with the fixed V-shaped groove 3A1V in the vertical direction and the movable rod 7A rises to the highest position through the rod lifting device 7B, the movable rod 7A can lift the shaft part 1 away from the fixed V-shaped groove 3A1V, and the movable rod 7A runs forward by a spacing through the pushing and pulling device 7C. Then, it descends through the rod lifting device 7B, and places the shaft part 1 on the movable V-shaped groove 7A1 into the fixed V-shaped groove 3A1V on the fixed seat 3A1.

[0011] As a further solution of the present invention: The indoor conveying device 3E includes an inclined rail conveyor 8, and the inclined rail conveyor 8 includes an inclined steel rail 8A and a stopper 8B; The shaft-like part 1 rolls forward on the steel rail 8A by its own weight and stops at the position set on the steel rail 8A through the stopper 8B.

[0012] As a further solution of the present invention: The vertical chamber module 3 includes a vertical single-cover chamber 3D, and the vertical single-cover chamber 3D includes a vertical single inlet / outlet 3D1, and the vertical single inlet / outlet 3D1 includes a vertical single cover 3D1A.

[0013] As a further solution of the present invention: The vertical chamber module 3 includes a roller device 9 located inside the vertical chamber 3A, and the rotation of the shaft-like part 1 can be realized through the roller device 9.

[0014] As a further solution of the present invention: The paint production line includes columns 1F located outside both sides of the vertical chamber 3A, a track 1X is installed on the columns 1F, the truss robot 4 includes a large vehicle 4B, a small vehicle 4C and a lifting device 4D, the large vehicle 4B includes a traveling device 4B1, the large vehicle 4B travels on the track 1X through the traveling device 4B1, a gripper 4A is installed on the lifting device 4D, the lifting device 4D is installed on the small vehicle 4C, and the small vehicle 4C runs horizontally on the large vehicle 4B.

[0015] As a further solution of the present invention: The truss robot 4 includes a small truss robot 41 and / or a large truss robot 42. The small truss robot 41 can only realize the conveying of the shaft-like part 1 between adjacent vertical chamber modules 3, and the large truss robot 42 can not only realize the conveying of the shaft-like part 1 between adjacent vertical chamber modules 3, but also realize the conveying between non-adjacent vertical chamber modules 3.

[0016] As a further solution of the present invention: The shaft-like part 1 includes an axle 1E of a railway wheel set.

[0017] In summary, compared with the prior art, the characteristics of the present invention are: The truss robot is used to realize the operation of the shaft-like part between all or part of the functional chambers. Since the truss robot can operate in three-dimensional space, as long as it is within the coverage range of the truss robot, each functional chamber can be flexibly arranged according to the process requirements, and the process route can also be flexibly set according to the production needs.

[0018] The main advantages of the present invention are: The shortest path selected by the computer system is used, and by adopting a truss robot, the conveying of the shaft-like part between each functional chamber is completed; Therefore, the structure of the production line is simple, the equipment is easy to arrange, the floor area is small, and the cost is low. Description of the Drawings

[0019] Figure 1It is a schematic structural diagram of the column 1F, the track 1X, the equipment module 1A and the truss robot 4 that make up the paint production line for shaft parts, and also a schematic structural diagram of the vertical chamber module 3 that makes up the equipment module 1A. It is also a schematic structural diagram of the vertical chamber 3A, the vertical inlet 3B, the vertical outlet 3C and the indoor conveying device 3E that make up the vertical chamber module 3. It is also a schematic structural diagram of the indoor starting end 3E1 and the indoor ending end 3E2 that make up the indoor conveying device 3E. It is also a schematic structural diagram of the vertical inlet cover 3B1 that makes up the vertical inlet 3B. It is also a schematic structural diagram of the vertical outlet cover 3C1 that makes up the vertical outlet 3C. It is also a schematic structural diagram of the axle 1E of the shaft part 1. It is still a schematic structural diagram of the small truss robot 41 and the large truss robot 42 that make up the truss robot 4; Figure 2 It is Figure 1 the A-A view of, and also a schematic structural diagram of the jaw 4A, the large vehicle 4B, the small vehicle 4C and the lifting device 4D that make up the truss robot 4. It is still a schematic structural diagram of the traveling device 4B1 that makes up the large vehicle 4B, Figure 3 It is Figure 2 the P-direction view of; Figure 4 It is Figure 1 the B-B view of, and also a schematic structural diagram of the multi-stage lifting device 4D1 that makes up the lifting device 4D; Figure 5 It is Figure 4 the M-direction view of; Figure 6 It is a schematic structural diagram of the chain conveyor 6 that makes up the indoor conveying device 3E, and also a schematic structural diagram of the conveying chain 6A and the V-shaped chain plate 6B that make up the chain conveyor 6; Figure 7 It is a schematic structural diagram of the fixed seat 3A1 that makes up the vertical chamber 3A, and also a schematic structural diagram of the fixed V-shaped groove 3A1V that makes up the fixed seat 3A1. It is also a schematic structural diagram of the step conveyor 7 that makes up the indoor conveying device 3E, and also a schematic structural diagram of the movable rod 7A, the rod lifting device 7B and the pushing and pulling device 7C that make up the step conveyor 7. It is still a schematic structural diagram of the movable V-shaped groove 7A1 that makes up the movable rod 7A; Figure 8 It is Figure 7 the A-direction view of; Figure 9 It is a schematic diagram of the movable rod 7A being lifted by the rod lifting device 7B to lift the shaft part 1 away from the fixed V-shaped groove 3A1V; Figure 10 It is a schematic diagram of the pushing and pulling device 7C operating to make the movable rod 7A run forward by one pitch; Figure 11It is a schematic structural diagram of the shaft-like part 1 on the movable rod 7A resting on the fixed V-shaped groove 3A1V when the lifting device 7B retracts; Figure 12 It is a schematic structural diagram of the step conveyor 7 returning to its original state when the pushing and pulling device 7C retracts; Figure 13 It is a schematic structural diagram of the inclined rail conveyor 8 that forms the indoor conveying device 3E, and also a schematic structural diagram of the steel rail 8A and the stopper 8B that form the inclined rail conveyor 8; Figure 14 It is a schematic structural diagram of the vertical single-cover chamber body 3D that forms the vertical chamber body module 3, and also a schematic structural diagram of the vertical single entrance 3D1 that forms the vertical single-cover chamber body 3D, and still a schematic structural diagram of the vertical single cover 3D1A that forms the vertical single entrance 3D1: Figure 15 It is a schematic structural diagram of the fixed V-shaped frame 9A1 and the fixed roller 9A2 that form the fixed roller device 9A; Figure 16 It is a schematic structural diagram of the roller device 9 that forms the vertical chamber body module 3, and also a schematic structural diagram of the fixed roller device 9A and the lifting roller device 9B that form the roller device 9, and still a schematic structural diagram of the lifting roller 9B1 and the lifting V-shaped frame 9B2 that form the lifting roller device 9B; Figure 17 It is a schematic structural diagram of the lifting roller device 9B lifting to lift the shaft-like part 1 away from the indoor conveying device 3E and enabling the shaft-like part 1 to rotate.

[0020] Shaft-like part 1, equipment module 1A, axle 1E, column 1F, track 1X, vertical chamber body module 3, vertical chamber body 3A, fixed seat 3A1, fixed V-shaped groove 3A1V, vertical entrance 3B, vertical entrance cover 3B1, vertical exit 3C, vertical exit cover 3C1, vertical single-cover chamber body 3D, vertical single entrance 3D1, vertical single cover 3D1A, indoor conveying device 3E, indoor starting end 3E1, indoor end 3E2, truss robot 4, gripper 4A, cart 4B, traveling device 4B1, trolley 4C, lifting device 4D, multi-stage lifting device 4D1, small truss robot 41, large truss robot 42, chain conveyor 6, conveyor chain 6A, V-shaped chain plate 6B, step conveyor 7, movable rod 7A, movable V-shaped groove 7A1, rod lifting device 7B, pushing and pulling device 7C, inclined rail conveyor 8, steel rail 8A, stopper 8B, roller device 9, fixed roller device 9A, fixed V-shaped frame 9A1, fixed roller 9A2, lifting roller device 9B, lifting roller 9B1, lifting V-shaped frame 9B2. Specific implementation manners

[0021] The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] Please refer to Figures 1 - 17 , in the embodiment of the present invention, the paint production line for shaft parts 1 includes an equipment module 1A, a track 1X, and a truss robot 4 running on the track 1X. The equipment module 1A includes a vertical chamber module 3. The vertical chamber module 3 includes a vertical chamber 3A, a vertical inlet 3B, a vertical outlet 3C, and an indoor conveying device 3E. The indoor conveying device 3E located in the vertical chamber 3A includes an indoor start end 3E1 directly below the vertical inlet 3B and an indoor end 3E2 directly below the vertical outlet 3C. The truss robot 4 includes a gripper 4A; The truss robot 4 grips the shaft part 1 through the gripper 4A and places it at the indoor start end 3E1 through the vertical inlet 3B; the shaft part 1 enters a set position inside the vertical chamber 3A through the indoor conveying device 3E. After completing the set operation, it reaches the indoor end 3E2 through the indoor conveying device 3E again, and then the truss robot 4 hoists the shaft part 1 to other set positions, that is, the conveying of the shaft part 1 between all or part of the vertical chamber modules 3 is completed by the truss robot 4.

[0023] It should be noted that: the vertical chamber 3A can be an open chamber, a cleaning device, a painting chamber, or a drying chamber.

[0024] It should also be noted that: the vertical inlet 3B can be provided with a vertical inlet cover 3B1, and the vertical outlet 3C can be provided with a vertical outlet cover 3C1.

[0025] The described indoor conveying device 3E includes a chain conveyor 6. The chain conveyor 6 includes a conveying chain 6A and a V-shaped chain plate 6B with a V-shaped groove installed on the conveying chain 6A. The outer circle of the shaft part 1 is placed in the V-shaped groove of the V-shaped chain plate 6B.

[0026] The inside of the vertical chamber 3A includes a fixed seat 3A1. The top surface of the fixed seat 3A1 includes a fixed V-shaped groove 3A1V. The indoor conveying device 3E includes a step conveyor 7. The step conveyor 7 includes a movable rod 7A, a rod lifting device 7B, and a pushing and pulling device 7C. The top surface of the movable rod 7A includes a movable V-shaped groove 7A1. The spacing between several adjacent fixed V-shaped grooves 3A1V on the fixed seat 3A1 is equal to the spacing between several adjacent movable V-shaped grooves 7A1 on the movable rod 7A; When the movable rod 7A is at the lowest position, the movable V-groove 7A1 is lower than the fixed V-groove 3A1V. The movable rod 7A can run below the shaft-like part 1 on the fixed V-groove 3A1V through the push-pull device 7C. When the movable V-groove 7A1 is aligned with the fixed V-groove 3A1V in the vertical direction and the movable rod 7A rises to the highest position through the rod lifting device 7B, the movable rod 7A can lift the shaft-like part 1 off the fixed V-groove 3A1V and move forward a distance through the push-pull device 7C. Then, it descends through the rod lifting device 7B and places the shaft-like part 1 on the movable V-groove 7A1 into the fixed V-groove 3A1V on the fixed seat 3A1.

[0027] It should be noted that: the V-grooves in different vertical chamber modules 3 can have different spacings.

[0028] The indoor conveying device 3E described above includes an inclined rail conveyor 8, and the inclined rail conveyor 8 includes an inclined steel rail 8A and a stopper 8B. The shaft-like part 1 rolls forward by its own weight on the steel rail 8A and stops at the position set on the steel rail 8A through the stopper 8B.

[0029] The vertical chamber module 3 described above includes a vertical single-cover chamber 3D, and the vertical single-cover chamber 3D includes a vertical single inlet / outlet 3D1, and the vertical single inlet / outlet 3D1 includes a vertical single cover 3D1A.

[0030] It should be noted that: there may be no indoor conveying device 3E in the vertical single-cover chamber 3D, and operations can be directly carried out below the vertical single cover 3D1A. The vertical single-cover chamber 3D can be a painting chamber.

[0031] The vertical chamber module 3 described above includes a roller device 9 located in the vertical chamber 3A, and the rotation of the shaft-like part 1 can be realized through the roller device 9.

[0032] It should be noted that: the roller device 9 can be a fixed roller device 9A for the step conveyor 7, and the fixed roller device 9A includes a fixed V-frame 9A1 and fixed rollers 9A2. The fixed rollers 9A2 are installed on the fixed V-frame 9A1. When the fixed rollers 9A2 rotate, they can drive the axle 1E placed on the fixed rollers 9A2 to rotate.

[0033] It should also be noted that: the roller device 9 can also be a lifting roller device 9B for the chain conveyor 6 or the inclined rail conveyor 8, and the lifting roller device 9B includes a lifting roller 9B1 and a lifting V-frame 9B2.

[0034] The roller device 9 can be used in a painting chamber to coat the shaft-like part 1 in a rotating state.

[0035] The described paint production line includes columns 1F located outside both sides of the vertical chamber 3A. The track 1X is installed on the columns 1F. The truss robot 4 includes a trolley 4B, a carriage 4C, and a lifting device 4D. The trolley 4B includes a traveling device 4B1. The trolley 4B travels on the track 1X through the traveling device 4B1. The gripper 4A is installed on the lifting device 4D, and the lifting device 4D is installed on the carriage 4C. The carriage 4C runs horizontally on the trolley 4B.

[0036] It should be noted that: The truss robot 4 may not have the carriage 4C. In this case, the lifting device 4D is directly installed on the trolley 4B.

[0037] It should also be noted that: The lifting device 4D may be a multi-stage lifting device 4D1.

[0038] The described truss robot 4 includes a small truss robot 41 and / or a large truss robot 42. The small truss robot 41 can only realize the transportation of the shaft parts 1 between adjacent vertical chamber modules 3. The large truss robot 42 can not only realize the transportation of the shaft parts 1 between adjacent vertical chamber modules 3, but also realize the transportation between non-adjacent vertical chamber modules 3.

[0039] The described shaft parts 1 include the axle 1E of the railway wheel set.

[0040] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation of the present invention. In the present invention, it should also be noted that the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integrally formed connection, a mechanical connection, or an indirect connection through an intermediate medium. The specific meaning of the terms in the present invention can be understood according to the specific situation.

[0041] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An axle part painting production line with a truss robot and a vertically entering and exiting chamber body, characterized in that The painting production line for shaft parts (1) includes equipment modules (1A), a track (1X), and a truss robot (4) running on the track (1X). The equipment modules (1A) include a vertical chamber module (3). The vertical chamber module (3) includes a vertical chamber (3A), a vertical inlet (3B), a vertical outlet (3C), and an indoor conveying device (3E). The indoor conveying device (3E) located inside the vertical chamber (3A) includes an indoor starting end (3E1) directly below the vertical inlet (3B) and an indoor ending end (3E2) directly below the vertical outlet (3C). The truss robot (4) includes a gripper (4A). The truss robot (4) grips the shaft part (1) with the gripper (4A) and places it at the indoor starting end (3E1) through the vertical inlet (3B). The shaft part (1) enters a set position inside the vertical chamber (3A) through the indoor conveying device (3E). After completing the set operation, it reaches the indoor ending end (3E2) through the indoor conveying device (3E) again, and then the truss robot (4) hoists the shaft part (1) to other set positions, that is, the conveying of the shaft part (1) between all or part of the vertical chamber modules (3) is completed by the truss robot (4).

2. The shaft part painting production line with a truss robot and a vertically entering and exiting chamber body according to claim 1, characterized in that The described indoor conveying device (3E) includes a chain conveyor (6). The chain conveyor (6) includes a conveying chain (6A) and a V-shaped chain plate (6B) with a V-shaped groove installed on the conveying chain (6A). The outer circle of the shaft part (1) is placed in the V-shaped groove of the V-shaped chain plate (6B).

3. The shaft part painting production line with a truss robot and a vertical access chamber according to claim 1, characterized in that Inside the described vertical chamber (3A), there is a fixed seat (3A1). The top surface of the fixed seat (3A1) includes a fixed V-shaped groove (3A1V). The indoor conveying device (3E) includes a step conveyor (7). The step conveyor (7) includes a movable rod (7A), a rod lifting device (7B), and a pushing and pulling device (7C). The top surface of the movable rod (7A) includes a movable V-shaped groove (7A1). The spacing between several adjacent fixed V-shaped grooves (3A1V) on the fixed seat (3A1) is equal to the spacing between several adjacent movable V-shaped grooves (7A1) on the movable rod (7A). When the movable rod (7A) is at the lowest position, the movable V-shaped groove (7A1) is lower than the fixed V-shaped groove (3A1V), and the movable rod (7A) can run below the shaft part (1) on the fixed V-shaped groove (3A1V) through the pushing and pulling device (7C). When the movable V-shaped groove (7A1) is aligned with the fixed V-shaped groove (3A1V) in the vertical direction and the movable rod (7A) rises to the highest position through the rod lifting device (7B), the movable rod (7A) can lift the shaft part (1) away from the fixed V-shaped groove (3A1V), and the movable rod (7A) runs forward by a spacing through the pushing and pulling device (7C). Then, it descends through the rod lifting device (7B) to place the shaft part (1) on the movable V-shaped groove (7A1) in the fixed V-shaped groove (3A1V) on the fixed seat (3A1).

4. The shaft part painting production line with a truss robot and a vertical access chamber according to claim 1, characterized in that The indoor conveying device (3E) described above includes an inclined rail conveyor (8), and the inclined rail conveyor (8) includes an inclined steel rail (8A) and a stopper (8B); the shaft-like member (1) rolls forward by its own weight on the steel rail (8A) and stops at the position set on the steel rail (8A) through the stopper (8B).

5. The shaft parts painting production line with a truss robot and a vertical access chamber according to claim 1, characterized in that The vertical chamber module (3) described above includes a vertical single-cover chamber (3D), and the vertical single-cover chamber (3D) includes a vertical single entrance (3D1), and the vertical single entrance (3D1) includes a vertical single cover (3D1A).

6. A paint production line for shaft parts with a truss robot and a vertical access chamber body according to claim 2 or 3 or 4 or 5, characterized in that The vertical chamber module (3) described above includes a roller device (9) located inside the vertical chamber (3A), and the rotation of the shaft-like member (1) can be realized through the roller device (9).

7. The shaft parts painting production line with a truss robot and a vertical access chamber according to claim 6, characterized in that The paint production line described above includes columns (1F) located outside both sides of the vertical chamber (3A), a track (1X) is installed on the columns (1F), the truss robot (4) includes a trolley (4B), a carriage (4C) and a lifting device (4D), the trolley (4B) includes a traveling device (4B1), the trolley (4B) travels on the track (1X) through the traveling device (4B1), a gripper (4A) is installed on the lifting device (4D), the lifting device (4D) is installed on the carriage (4C), and the carriage (4C) runs laterally on the trolley (4B).

8. The paint production line for shaft parts with a truss robot and a vertical access chamber according to claim 7, characterized in that The truss robot (4) described above includes a small truss robot (41) and / or a large truss robot (42). The small truss robot (41) can only realize the conveying of the shaft-like member (1) between adjacent vertical chamber modules (3), and the large truss robot (42) can not only realize the conveying of the shaft-like member (1) between adjacent vertical chamber modules (3), but also realize the conveying between non-adjacent vertical chamber modules (3).

9. The shaft part painting production line with a truss robot and a vertical access chamber according to claim 1, characterized in that The shaft-like member (1) described above includes an axle (1E) of a railway wheel set.

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